抓取面 meaning in Chinese

gripping surface

Firstly , it gets the image by vidicon in the environment where the robot is . then the computer processes the image and recognizes the beginning position of the part and the plane grasped by the robot
该算法首先用摄像机摄取机器人所在环境的图像，然后经过计算机处理，从中识别出目标机械零件的开始位置和机器人抓取面。
The main work completed in the paper is listed as following : 1 . image function acquisition - , 2 . read bmp files by dib format ; 3 . drawing gray scale histogram ; 4 . choose a optimum threshold and make gray image become binary image - , s . find image ' s contour points by making inner points become empty and apply template matching on the contour points ; 6 . transform the object ' s beginning points ( pixel point ) to the ones in the image coordinate and the positions of in the corresponding three dimensions ; 7 . compute the position vector and the normal vector of the object
选择一个最佳阕值，把灰度图像进行二值化处理； 5用掏空内部点法，找到图像的轮廓点，然后在轮廓点上进行模板匹配； 6把输出的目标物开始点(像素点)转化成图像坐标系中的点和对应的三维空间的坐标位置； 7计算目标物的位置矢量和法向矢量，根据机器人抓取面的法向矢量，找到机器人要抓取的平面； 8